Agricultural aerial cloud platform mechanism for real-time horizontal attitude deviation correction

Abstract

The real-time horizontal attitude deviation correction agricultural aviation cloud platform mechanism belongs to the field of agricultural aviation plant protection equipment, wherein the upper and lower sliding blocks in the sliding assembly are slidably connected with the circular slide rail; the gear assembly is fixedly connected to the front of the sliding block of the sliding assembly, the front gear of the gear assembly is engaged with the sector gear rack, and the sector gear rack is fixedly connected in the sector groove of the counterweight block; the two motor assemblies of the tilting driving assembly are respectively connected to the front and rear parts of the box body in the sliding assembly through shafts and are movably connected with the front and rear surfaces of the counterweight block through bearings. Through the structural design, the mobility of the sensing unit is realized by using the slide rail sliding block and the gear transmission, the horizontal attitude deviation of the agricultural helicopter in the spraying operation process can be monitored in real time, and the self-stabilizing monitoring function is realized.

Description

Technical Field

[0001] This invention belongs to the field of agricultural aviation plant protection equipment, specifically relating to an agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction. Background Technology

[0002] Agricultural aviation in China began in the 1950s. The development of agricultural aviation plant protection has promoted intelligent and precise spraying technology. Aerial spraying technology has strict standards for flight altitude and droplet spraying quality. Within its application scope, it aims to minimize operating costs, maximize productivity, and improve operational efficiency. my country's agricultural helicopter low-altitude, low-volume spraying technology has formed a relatively complete set of operational specifications and technical systems. To ensure the quality of plant protection spraying operations in agricultural production, high demands are placed on pilot skills, weather conditions, and hardware equipment.

[0003] Research on aerial plant protection spraying technology shows that rationally controlling the median diameter of droplets can affect the spraying effect of pesticides or other plant protectants. Generally, the smaller the median diameter of droplets, the easier it is for the droplets to disperse in the atmosphere, resulting in a wider coverage area and improving the adsorption and penetration of the pesticide solution. In application, the sprayed droplet quality of this invention meets the national requirements for pesticide application. The test droplets without the device of this invention showed a low completion rate of the spraying operation.

[0004] Due to restrictions imposed by the Civil Aviation Administration of China, any alterations to aircraft and their components beyond their original design specifications are prohibited after delivery, and connecting electrical appliances to the aircraft's power supply is not permitted. Furthermore, the field of self-stabilizing devices for agricultural helicopters is currently relatively undeveloped, and research in this area is also lacking. Summary of the Invention

[0005] In view of the above problems, the purpose of this invention is to propose an agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction, which can be placed on the cabin floor or seat without requiring additional installation on the helicopter. It enables self-stabilizing monitoring of the agricultural helicopter during spraying operations, thereby allowing the helicopter to maintain a balanced state and achieve more uniform droplet distribution during spraying.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: through structural design, the sensing unit is made movable by using a slide rail slider and gear transmission, and self-stabilizing monitoring is achieved by changing the tilt direction of the sensing unit.

[0007] This invention discloses a real-time horizontal attitude deviation correction mechanism for an agricultural aviation gimbal, comprising a sliding assembly A, a gear assembly B, a fuselage assembly C, and a counterweight D. Specifically: the gear assembly B is located in front of the sliding assembly A, and its outer shell II18 is bolted to the slider II10 of the sliding assembly A; the motor assembly IC1 of the fuselage assembly C is bolted to the front end face 29 of the counterweight D; the motor assembly IIC2 of the fuselage assembly C is bolted to the rear end face 31 of the counterweight D; the motor assembly IC1 of the fuselage assembly C is located in front of the housing 7 of the sliding assembly A, and the outer ring of the bearing of the motor assembly IC1 is interference-fitted with the front bearing hole 26 of the counterweight D. The shaft is fixedly connected to the front of the housing 7 in the sliding assembly A; the motor assembly II C2 in the body assembly C is located at the rear of the housing 7 in the sliding assembly A, and the outer ring of the bearing of the motor assembly II C2 is interference-fitted with the rear bearing hole 25 of the counterweight D, and the shaft of the motor assembly II C2 is fixedly connected to the rear of the housing 7 in the sliding assembly A; the sliding assembly A has two ear plates of the ear plate assembly 6 on the left and right sides, which are fixedly connected to the left end face 24 and the right end face 30 of the counterweight D by bolts; the sliding assembly A and the gear assembly B are installed together in the cavity 27 of the counterweight D, wherein the rack 12 of the gear assembly B is fixedly connected to the front sector groove 28 of the counterweight D.

[0008] The sliding assembly A consists of nut I1, slider I2, threaded shaft I3, slide rail assembly 4, fastening block I5, ear plate assembly 6, housing 7, fastening block II8, threaded shaft II9, slider II10, and nut II11. Slider I2 and slider II10 have essentially the same structure, both having a central hole and a pair of sliding grooves, while slider II10 also has a pair of threaded holes on its left and right sides. The slide rail assembly 4 is annular, with a pair of slide rails on it, and the slide rail pairs are hollowed out. Fastening block I5 and fastening block II8 have the same structure, both having threaded holes. The front and rear of the housing 7 have fixing holes. Fastening block I5, housing 7, and fastening block II8 are arranged sequentially from top to bottom. The slide rail assembly 4 is arranged in sequence and located within the annulus of the slide rail assembly 4; the upper part of the threaded shaft I3 passes through the slider I2 and is threadedly connected to the nut I1, and the lower part of the threaded shaft I3 passes through the cutout at the upper end of the slide rail assembly 4 and is threadedly connected to the center of the fastening block I5; the lower part of the threaded shaft II9 passes through the slider II10 and is threadedly connected to the nut II11, and the upper part of the threaded shaft II9 passes through the cutout at the lower end of the slide rail assembly 4 and is threadedly connected to the center of the fastening block II8; the sliding grooves of slider I2 and slider II10 are slidably connected to the slide rail of the slide rail assembly 4; the two ear plates of the ear plate assembly 6 are respectively fixed to the left and right ends of the annulus of the slide rail assembly 4; the housing 7 is fixed between the fastening block I5 and the fastening block II8.

[0009] The gear assembly B consists of a rack 12, a housing I 13, a large and small combined gear 14, a pinion 15, a motor I 16, a bolt 17, a housing II 18, and a bolt group 19. The motor I 16 is fixedly connected to the upper groove of the housing II 18, and the output shaft on the front side of the motor I 16 is fixedly connected to the pinion 15, which meshes with the large gear of the large and small combined gear 14. The housing I 13 has a central hole and a pair of holes, and the housing II 18 has a central hole and a pair of threaded holes, with a groove on its upper front. The pinion of the large and small combined gear 14 passes through the central hole of the housing I 13 and meshes with the internal teeth of the rack 12. The large and small combined gear 14 has a central hole, and the bolt 17 passes through the central hole of the housing II 18 from back to front, with its front end threadedly connected to the central hole of the large and small combined gear 14. The housing I 13 and the housing II 18 are fixedly connected by the bolt group 19.

[0010] The fuselage assembly C consists of motor assembly IC1 and motor assembly IIC2. Motor assembly IC1 and motor assembly IIC2 have the same structure, both consisting of bearing 20, shaft 21, coupling 22 and motor II 23. The bearing 20, shaft 21, coupling 22 and motor II 23 are arranged in sequence from the inside to the outside. The inner end of shaft 21 is interference-fitted with the inner ring of bearing 20. The inner and outer ends of the outer coupling 22 are fixedly connected to the output shafts of shaft 21 and motor II 23, respectively.

[0011] The counterweight D has a front end face 29 and a front bearing hole 26 at the front, a rear end face 31 and a rear bearing hole 25 at the rear, a left end face 24 on the left, and a right end face 30 on the right; it has a cavity 27 inside, and a fan-shaped groove 28 at the front of the cavity 27.

[0012] The working process of this invention is as follows:

[0013] First, the GPS is placed inside housing 7 and secured by sliding component A and pre-tightening force. The specific principle is as follows: the upper and lower parts of housing 7 are connected in the same way. Taking the upper part as an example, slider I2 slides on slide rail 4. Slider I2 has a through hole, and fastening block I5 has a threaded hole. Slider I2, threaded shaft I3, and fastening block I5 are coaxially arranged. The upper end of threaded shaft I3 passes through the through hole of slider I2, and the lower end of threaded shaft I3 is threadedly connected to fastening block I5. Nut I1 is threadedly connected to the upper end of threaded shaft I3, generating pre-tightening force. The lower end face of fastening block I5 contacts the upper surface of housing 7. The housing 7 is fixedly connected by the pre-tightening force of both the upper and lower parts.

[0014] Assuming that during plant protection operations, when a horizontal attitude deviation of the aircraft is detected, the motor 16Ⅰ in gear assembly B first drives the pinion 15, which in turn drives the combined large and small gears 14. Then, the combined large and small gears 14 move on the rack 12. The rack 12 is designed to ensure that no matter how large the horizontal deviation of the aircraft is, the GPS in box 7 will only have a horizontal angular deviation within a certain angle.

[0015] Because gear assembly B cannot accurately correct the horizontal angle deviation of the GPS in box 7, a tilt drive assembly C is independently set up to precisely adjust the horizontal angle deviation. Motor assembly I C1 and motor assembly II C2 rotate simultaneously to adjust the deviation that gear assembly B could not correct, thereby improving the accuracy of the horizontal deviation and ensuring the accuracy of the GPS in box 7 during the flight of plant protection operations.

[0016] By coarsely adjusting gear set B in the horizontal direction and precisely adjusting tilt drive component C, the GPS in box 7 is ensured to remain horizontal during operation.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This invention achieves the mobility of the sensing unit through structural design, utilizing slide rails, sliders, and gear transmission, enabling real-time monitoring of the horizontal attitude deviation of agricultural helicopters during spraying operations, thereby realizing a self-stabilizing monitoring function.

[0019] 2. The gimbal mechanism can be placed on the cabin floor or seats without requiring additional installation or modification to the aircraft, which complies with the relevant regulations of the Civil Aviation Administration of China and avoids changes beyond the original design.

[0020] 3. By coarsely adjusting the gear assembly B in the horizontal direction and precisely adjusting the tilt drive assembly C, the present invention can ensure that the GPS remains horizontal in the lateral direction during operation, thereby improving the accuracy of deviation correction. Attached Figure Description

[0021] Figure 1 An isometric view of an agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction;

[0022] Figure 2 This is an exploded view of sliding component A;

[0023] Figure 3 This is an exploded view of gear assembly B;

[0024] Figure 4 This is an isometric view of fuselage component C;

[0025] Figure 5This is an isometric view of motor assembly IC1;

[0026] Figure 6 This is a cross-sectional view of counterweight D;

[0027] Figure 7 This is an isometric view of counterweight D.

[0028] Among them: A. Sliding assembly B. Body assembly C. Body assembly C1. Motor assembly I C2. Motor assembly II D. Counterweight 1. Nut I 2. Slider I 3. Threaded shaft I 4. Slide rail 5. Fastening block I 6. Ear plate assembly 7. Housing 8. Fastening block II 9. Threaded shaft II 10. Slider II 11. Nut II 12. Rack 13. Housing I 14. Large and small combination gears 15. Pinion 16. Motor I 17. Bolt 18. Housing II 19. Bolt assembly 20. Bearing 21. Shaft 22. Coupling 23. Motor II 24. Left end face 25. Rear bearing hole 26. Front bearing hole 27. Cavity 28. Sector groove 29. Front end face 30. Right end face 31. Rear end face. Detailed Implementation

[0029] The present invention will now be described with reference to the accompanying drawings.

[0030] like Figure 1 and Figure 4 As shown, the agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction of the present invention consists of a sliding component A, a gear component B, a fuselage component C, and a counterweight D, wherein: the gear component B is located in front of the sliding component A, and the rear of the outer shell II18 of the gear component B is fixedly connected to the slider 10 of the sliding component A by bolts.

[0031] The motor assembly ⅠC1 of the tilt drive assembly C is bolted to the front end face 29 of the counterweight D; the motor assembly ⅡC2 of the tilt drive assembly C is bolted to the rear end face 31 of the counterweight D; the motor assembly ⅠC1 of the tilt drive assembly C is located at the front of the housing 7 in the sliding assembly A, the outer ring of the bearing of the motor assembly ⅠC1 is interference-fitted with the front bearing hole 26 of the counterweight D, and the shaft 23 of the motor assembly ⅠC1 is fixed to the front of the housing 7 in the sliding assembly A.

[0032] In the tilt drive assembly C, the motor assembly II C2 is located at the rear of the housing 7 in the sliding assembly A. The outer ring of the bearing of the motor assembly II C2 is interference-fitted with the rear bearing hole 25 of the counterweight D. The shaft 23 of the motor assembly II C2 is fixedly connected to the rear of the housing 7 in the sliding assembly A.

[0033] The sliding component A has two ear plates on the left and right sides of the ear plate group 6, which are fixed to the left end face 24 and right end face 30 of the counterweight D by bolts.

[0034] Sliding assembly A and gear assembly B are installed together in cavity 27 of counterweight D, wherein the rack 12 of gear assembly B is fixed in front sector groove 28 of counterweight D.

[0035] like Figure 2 As shown, the sliding assembly A consists of nut I1, slider I2, threaded shaft I3, slide rail assembly 4, fastening block I5, ear plate assembly 6, housing 7, fastening block II8, threaded shaft II9, slider II10, and nut II11. Slider I2 and slider II10 have basically the same structure, both having a central hole and a pair of sliding grooves, while slider II10 also has a pair of threaded holes on its left and right sides.

[0036] The slide rail assembly 4 is circular and has a pair of slide rails on it, with a hollow design between the slide rail pairs; the fastening block I5 and fastening block II8 have the same structure and are both provided with threaded holes; the front and rear of the housing 7 are provided with fixing holes; the fastening block I5, housing 7 and fastening block II8 are arranged in order from top to bottom and are located inside the circular ring of the slide rail assembly 4.

[0037] The upper part of threaded shaft I3 passes through slider I2 and is threadedly connected to nut I1. The lower part of threaded shaft I3 passes through the cutout at the upper end of slide rail assembly 4 and is threadedly connected to the center of fastening block I5. The lower part of threaded shaft II9 passes through slider II10 and is threadedly connected to nut II11. The upper part of threaded shaft II9 passes through the cutout at the lower end of slide rail assembly 4 and is threadedly connected to the center of fastening block II8. The sliding grooves of slider I2 and slider II10 are slidably connected to the slide rail of slide rail assembly 4.

[0038] The two ear plates of the ear plate assembly 6 are respectively fixed to the left and right ends of the ring of the slide rail assembly 4; the housing 7 is fixed between the fastening block I5 and the fastening block II8.

[0039] like Figure 3 As shown, the gear assembly B consists of a rack 12, a housing I 13, a large and small combined gear 14, a pinion 15, a motor I 16, a bolt 17, a housing II 18, and a bolt group 19. The motor I 16 is fixedly connected to the upper groove of the housing II 18, and the output shaft on the front side of the motor I 16 is fixedly connected to the pinion 15. The pinion 15 meshes with the large gear of the large and small combined gear 14. The housing I 13 has a central hole and a pair of holes, and the housing II 18 has a central hole and a pair of threaded holes, with a groove on its upper front. The pinion of the large and small combined gear 14 passes through the central hole of the housing I 13 and meshes with the internal teeth of the rack 12. The large and small combined gear 14 has a central hole, and the bolt 17 passes through the central hole of the housing II 18 from back to front, with its front end threadedly connected to the central hole of the large and small combined gear 14. The housing I 13 and the housing II 18 are fixedly connected by the bolt group 19.

[0040] like Figure 5As shown, the fuselage assembly C consists of motor assembly IC1 and motor assembly IIC2. Motor assembly IC1 and motor assembly IIC2 have the same structure, both consisting of bearing 20, shaft 21, coupling 22 and motor II 23. The bearing 20, shaft 21, coupling 22 and motor II 23 are arranged sequentially from the inside to the outside. The inner end of shaft 21 is interference-fitted with the inner ring of bearing 20. The inner and outer ends of the outer coupling 22 are fixedly connected to the output shafts of shaft 21 and motor II 23, respectively.

[0041] like Figure 6 and Figure 7 As shown, the counterweight D has a front end face 29 and a front bearing hole 26 at the front, a rear end face 31 and a rear bearing hole 25 at the rear, a left end face 24 on the left, and a right end face 30 on the right; it has a cavity 27 inside, and a fan-shaped groove 28 at the front of the cavity 27.

Claims

1. An agricultural aerial gimbal mechanism for real-time horizontal attitude deviation correction, characterized in that: It consists of a sliding assembly (A), a gear assembly (B), a fuselage assembly (C), and a counterweight (D). Specifically: the gear assembly (B) is located in front of the sliding assembly (A), and its outer casing II (18) is bolted to the slider II (10) of the sliding assembly (A); the motor assembly I (C1) of the fuselage assembly (C) is bolted to the front end face (29) of the counterweight (D); the motor assembly II (C2) of the fuselage assembly (C) is bolted to the rear end face (31) of the counterweight (D); the motor assembly I (C1) of the fuselage assembly (C) is located in front of the housing (7) of the sliding assembly (A), and the outer ring of the bearing of motor assembly I (C1) is interference-fitted to the front bearing hole (26) of the counterweight (D). The shaft is fixedly connected to the front of the housing (7) in the sliding assembly (A); the motor assembly II (C2) in the body assembly (C) is located at the rear of the housing (7) in the sliding assembly (A), the outer ring of the bearing of the motor assembly II (C2) is interference-fitted to the rear bearing hole (25) of the counterweight (D), and the shaft of the motor assembly II (C2) is fixedly connected to the rear of the housing (7) in the sliding assembly (A); the sliding assembly (A) has two ear plates of the ear plate assembly (6) on the left and right sides, which are fixedly connected to the left end face (24) and right end face (30) of the counterweight (D) by bolts; the sliding assembly (A) and the gear assembly (B) are installed together in the cavity (27) of the counterweight (D), wherein the rack (12) of the gear assembly (B) is fixedly connected to the front fan-shaped groove (28) of the counterweight (D).

2. The agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction according to claim 1, characterized in that: The sliding assembly (A) consists of nut I (1), slider I (2), threaded shaft I (3), slide rail assembly (4), fastening block I (5), ear plate assembly (6), housing (7), fastening block II (8), threaded shaft II (9), slider II (10), and nut II (11). Slider I (2) and slider II (10) have basically the same structure, both having a central hole and a pair of sliding grooves, while slider II (10) also has a pair of threaded holes on its left and right sides. The slide rail assembly (4) is annular, with a pair of slide rails on it, and the slide rails are hollowed out between them. Fastening block I (5) and fastening block II (8) have the same structure, both having threaded holes. The front and back of the housing (7) have fixing holes. The fastening block I (5), housing (7), and fastening block II (8) are arranged from top to bottom. Arranged in sequence and located within the annulus of the slide rail assembly (4); the upper part of the threaded shaft I (3) passes through the slider I (2) and is threadedly connected to the nut I (1), and the lower part of the threaded shaft I (3) passes through the cutout at the upper end of the slide rail assembly (4) and is threadedly connected to the center of the fastening block I (5); the lower part of the threaded shaft II (9) passes through the slider II (10) and is threadedly connected to the nut II (11), and the upper part of the threaded shaft II (9) passes through the cutout at the lower end of the slide rail assembly (4) and is threadedly connected to the center of the fastening block II (8); the sliding grooves of slider I (2) and slider II (10) are slidably connected to the slide rail of the slide rail assembly (4); the two ear plates of the ear plate group (6) are respectively fixed to the left and right ends of the annulus of the slide rail assembly (4); the box body (7) is fixed between the fastening block I (5) and the fastening block II (8).

3. The agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction according to claim 1, characterized in that: The gear assembly (B) consists of a rack (12), housing I (13), a combination gear (14), a pinion (15), a motor I (16), bolts (17), housing II (18), and a bolt group (19). The motor I (16) is fixedly connected to the upper groove of the housing II (18). The output shaft on the front side of the motor I (16) is fixedly connected to the pinion (15), and the pinion (15) meshes with the large gear of the combination gear (14). The housing I (13) is provided with a central hole. The outer casing II (18) has a central hole and a threaded hole pair, and a groove is provided on the upper front part; the small gear of the large and small combined gear (14) passes through the central hole of the outer casing I (13) and meshes with the internal teeth of the rack (12); the large and small combined gear (14) has a central hole, and the bolt (17) passes through the central hole of the outer casing II (18) from back to front, and its front end is threadedly connected to the central hole of the large and small combined gear (14); the outer casing I (13) and the outer casing II (18) are fixedly connected by a bolt group (19).

4. The agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction according to claim 1, characterized in that: The fuselage assembly (C) consists of motor assembly I (C1) and motor assembly II (C2). Motor assembly I (C1) and motor assembly II (C2) have the same structure, both consisting of bearing (20), shaft (21), coupling (22) and motor II (23). The bearing (20), shaft (21), coupling (22) and motor II (23) are arranged in order from the inside to the outside. The inner end of the shaft (21) is interference-fitted with the inner ring of the bearing (20). The inner and outer ends of the outer diameter coupling (22) are fixedly connected to the output shafts of the shaft (21) and motor II (23) respectively.

5. The agricultural aviation gimbal mechanism for real-time horizontal attitude deviation correction according to claim 1, characterized in that: The counterweight (D) has a front end face (29) and a front bearing hole (26) at the front, a rear end face (31) and a rear bearing hole (25) at the rear, a left end face (24) at the left, and a right end face (30) at the right; it has a cavity (27) inside, and a fan-shaped groove (28) at the front of the cavity (27).

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